Faster Detection of Step Initiation for the Lower Limb Exoskeleton with Vertical GRF Events

  • Cha, Dowan ;
  • Kang, Daewon ;
  • Kim, Kab Il ;
  • Kim, Kyung-Soo ;
  • Lee, Bum-Joo ;
  • Kim, Soohyun
  • Received : 2012.11.06
  • Accepted : 2013.10.13
  • Published : 2014.03.01


We propose a new approach called as a peak time approach for faster detection of step initiation for the lower limb exoskeleton. As faster detection of step initiation is an important criterion in evaluating the lower limb exoskeleton, many studies have investigated approaches to detect step initiation faster, including using electromyography, the center of pressure, the heel-off time and the toe-off time. In this study, we will utilize vertical ground reaction force events to detect step initiation, and compare our approach with prior approaches. Additionally, we will predict the first step's heel strike time with vertical ground reaction force events from multiple regression equations to support our approach. The lower limb exoskeleton should assist the operator's movement much faster and more reliably with our approach.


The lower limb exoskeleton;Step initiation;Ground reaction force


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